diag_pub.py

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#!/usr/bin/env python
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##\author Kevin Watts

##\brief Publishes diagnostic messages for robot monitor regression test

PKG = 'runtime_monitor'

import roslib; roslib.load_manifest(PKG)

import rospy
from time import sleep

from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus

if __name__ == '__main__':
    rospy.init_node('diag_pub')
    pub = rospy.Publisher('/diagnostics', DiagnosticArray)
    
    start_time = rospy.get_time()

    while not rospy.is_shutdown():
        array = DiagnosticArray()
        array.status = [
            DiagnosticStatus(0, 'EtherCAT Device (fl_caster_l_wheel_motor)', 'OK', '', []),
            DiagnosticStatus(0, 'EtherCAT Device (fl_caster_r_wheel_motor)', 'OK', '', []),
            DiagnosticStatus(0, 'EtherCAT Device (fl_caster_rotation_motor)', 'OK', '', []),
            DiagnosticStatus(2, 'EtherCAT Device (fr_caster_l_wheel_motor)', 'Motor model', '', []),
            DiagnosticStatus(1, 'EtherCAT Device (fr_caster_r_wheel_motor)', 'High temperature', '', []),
            DiagnosticStatus(0, 'EtherCAT Device (fr_caster_rotation_motor)', 'OK', '', []),
            
            DiagnosticStatus(0, 'tilt_hokuyo_node: Frequency Status', 'OK', '', []),
            DiagnosticStatus(0, 'tilt_hokuyo_node: Connection Status', 'OK', '', []),
            DiagnosticStatus(0, 'base_hokuyo_node: Frequency Status', 'OK', '', []),
            DiagnosticStatus(0, 'base_hokuyo_node: Connection Status', 'OK', '', []),
            
            DiagnosticStatus(0, 'Joint (fl_caster_l_wheel_joint)', 'OK', '', []),
            DiagnosticStatus(0, 'Joint (fl_caster_r_wheel_joint)', 'OK', '', []),
            DiagnosticStatus(1, 'Joint (fl_caster_rotation_joint)', 'Uncalibrated', '', []),
            DiagnosticStatus(1, 'Joint (fr_caster_l_wheel_joint)', 'Uncalibrated', '', []),
            DiagnosticStatus(0, 'Joint (fr_caster_r_wheel_joint)', 'OK', '', []),
            DiagnosticStatus(0, 'Joint (fr_caster_rotation_joint)', 'OK', '', [])]
        array.header.stamp = rospy.get_rostime()

        # Test that runtime monitor can handle an item changing levels
        if rospy.get_time() - start_time > 5:
            array.status.append(DiagnosticStatus(2, 'EtherCAT Device (fr_caster_l_wheel_motor)', 'Motor model', '', []))
        else:
            array.status.append(DiagnosticStatus(0, 'EtherCAT Device (fr_caster_l_wheel_motor)', 'OK', '', []))

        pub.publish(array)
        sleep(1)